Modeling of the technological objects movement in metal processing on machine tools

Industrial robots are widely used in modern enterprises. Although high repeatability of industrial robots can satisfy most process needs, their low absolute positioning accuracy in the workspace cannot meet the requirements of some high-precision tasks. An example, is that the action of a robot relies on real-time sample data rather than simulated data. The low absolute robot’s accuracy to positioning leads to the fact that work productivity is significantly different from what is expected. Therefore, the purpose of this paper is to analyze the developed program to increase the accuracy of robot-manipulator’s positioning in real time under the compilation with the programs of integration automation projects. The paper considers the deformation of the links, which is one of the robot manipulator’s production errors. The effect of applied forces on the connections and links can affect the deformation of the robot posture in different ways, and these changes are difficult to account for using linear algebra, so recently the demand for "offline programming" has increased, which will allow you to simulate the work of a robot manipulator with a change in time and will have a reasonable price. Therefore, the application of artificial neural networks based on optimization algorithms to compensate for absolute error was considered. After analyzing the existing technical solutions, a genetic algorithm was chosen that satisfies the conditions of ease of implementation, clarity, lack of redundant calculations, flexibility to the data types used. The paper also presents a general scheme of algorithms for optimizing the parameters of artificial neural networks and an iterative process of finding optimal values of hyperparameters using a genetic algorithm. After choosing the modelling method and optimization algorithm, the developed algorithm on an open data set was tested. The obtained results showed an increase in accuracy from 22 to 77% (positioning accuracy without the use of compensation methods). Therefore, this article describes a method of increasing the absolute accuracy of positioning under the condition of compilation with programs of integration automation projects. The result is a program based on the above method.

Section: вступ постановка проблемиunclassified

Compensation of Robot-Manipulator Positioning Errors in Work Space of Technological Equipment

Sokolova¹,

Visloukh²,

Antoniuk³

et al. 2022

“…Сучасне приладобудівне виробництво має на меті створення прецизійних сенсорів, контрольновимірювальних приладів, модулів тощо автоматизованих систем для різних сфер діяльності, але це надточні прилади, які мають технічні параметри високої точності. Досить значний сегмент приладобудівного виробництва належить виготовленню прецизійних деталей приладів, які вимагають механічної обробки з використанням верстатного устаткування [1,2]. Здебільшого сучасні підприємства застосовують автоматизоване обладнання, що дозволяє організувати високоєфективне виробництво за умови забезпечення необхідної точності обробки та якості продукції.…”

Section: вступ постановка проблемиunclassified

“…Серія ПРИЛАДОБУДУВАННЯ, Вип. 61 (1), 2021 UDC 517.977.58: 004.9 : 621.9 Olha Datsenko, and Tatiana Klotchko National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute", Kyiv, Ukraine APPLICATION OF LOTKA-VOLTERRA MODEL FOR OPTIMIZATION OF AUTOMATED PARTS PROCESSING SYSTEM…”

mentioning

confidence: 99%

Application of Lotka-Volterra Model for Optimization of Automated Parts Processing System

Datsenko¹,

Klotchko²

2022

The article shows peculiarities of the organization of technological processes of processing parts when applying automation of the enterprise and at same time defines main problems associated with production features, technological processes, problems of conservation and rational use of resources. It is shown that these problems are solved by optimizing production processes, in particular, e technological process of manufacturing precise parts of devices. Optimization of production has always been a very relevant issue for many enterprises in various branches of production. This is not surprising, because both the state and private business are always looking for new technologies and possible ways to reduce expenses, increase profits, and solve the problem of general improvement of production efficiency. However, after beginning of the full-scale invasion of Russia on the territory of the sovereign state of Ukraine and the massive destruction of industrial and critical infrastructure, civilian buildings and housing, the issue of effective use of available and surviving resources became extremely urgent. According to official data, as of April 2022, losses of industrial assets amount to $6.7 billion. So, this is why there is a need to optimize production under condition of its automation. On the basis of research on the current state of optimization of automated systems for mechanical processing of parts and basic scientific research on this topic, approaches to the justification of a formalized optimization model aimed at increasing the efficiency of instrument-making production are considered. An optimization solution is proposed, based on use of Lotka-Volterra mathematical model, which will allow optimizing the operation of precision parts manufacturing systems under the condition of production automation. The results of conducted proved the expediency of such bionic approaches to the automation of technological structures of the production enterprise, since the proposed model is mostly used in research of biological processes. So, well-founded analogies made it possible to determine full range of production problems, including logistical problems and personnel problems based on competing models. The created software, namely a web application that performs all the necessary calculations, provides the ability to build graphs that visualize the results of the optimization of automated parts processing unit of enterprise, or the overall system, or its individual structural unit.

“…Thus, based on the principles of TONTOR theory [11], analytical models for the diagnosis of signs of diseases of the nervous system, associated with a violation of trajectory of the limbs movement and their specific symptoms of the condition, have been created.…”

Section: Introductionmentioning

confidence: 99%

Basic Principles of Spatial Position of Imaginary and Real Tontor Step

Skytsiouk¹,

Klotchko²

2022

The article defines the relevance of modeling the parameters of spatial location of an abstract object when performing various functions. Thus, modeling makes it possible to determine object movement trajectories both during industrial application in technological processes and when used to create bionic objects, for example, the action of artificial limbs, correction of the movement trajectory of an object with spatial orientation defects. The main goal of research was to substantiate the analytical models of object movement, taking into account spatial coordinate systems, according to which coordinate transformations are carried out during the functioning of an abstract object of various applications. The creation of a sensory complex to compensate for violations of limb functions based on the justification of analytical models of vector field of main systems of the object, characteristic of its vital activity, can solve the possibility of real actions of an abstract biotechnical object in interaction with other objects of the external environment. It is necessary to compare the idealized parameters of vector fields with the real current characteristics of the object under study and to determine the difference as a differential function that corresponds to diagnostic parameters of state of object's limbs trajectory. Or when applied in industrial conditions, errors in the reproduction of the movement trajectory are taken into account. As a result, the study of nature of this functional dependence of the state violation and its restoration in the automated mode of operation of the integrated tool will allow the creation of a computer-integrated hardware solution for the identification of objects that interact by approaching and touching their surfaces. Thus, determining the positioning of TONTOR step in the space of movement of objects and during their interaction provides the possibility of the functioning of each abstract object when performing various types of work. At the same time, it is necessary to significantly develop the base of physical and mathematical models that determine the vector fields of objects in dynamics over a certain time, taking into account the TONTOR step of the phantom and real spaces of the existence and operation of the object. Thus, hardware implementation of this hypothesis increases the accuracy of identification of objects interactions with a human limb, regardless of its condition, and the accuracy of determining their relative location in space.